Simulation and Dynamics Analysis of Remotely Operated Vehicle (ROV) Using PID Controller For Pitch Movement

Hujjatul Anam, Joga Dharma Setiawan, Agus Budiyono

Abstract


ROV (Remotely Operated Vehicle) is a type of underwater robot that resembles a mini submarine. The robot is remotely controlled by a pilot. In this ROV tether is usually used to link the robot with devices such as the sea surface energy source, remote control and sensing display. This study started from the stage of modeling the body of the ROV using SolidWorks. Estimation of added mass coefficient and hydrodynamics damping was performed using first principle approach. This leads to development of the equations of motion of ROV describing its salient dynamics. Based on the mathematical model, the ROV motion in 3-D space was investigated by using MATLAB SIMULINK. The stability of the ROV was analyzed and a classical control design was performed using the PID control toolbox.

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References


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